// Configuration constants for the phidget sensor classes
#ifndef CONFIG_H
#define CONFIG_H

// Which fusion algorithm to use?
#define USE_MAHONY
#define MAHONY_P 0.5
#define MAHONY_I 0.0
//#define USE_COMPASS
#define ZERO_GYRO

// IMU Conventions:
  /* 	
    |-------|                 ^
    |       |                 | Y-axis   
    |  IMU  |      <--X-axis  x Z-axis
    |       |
    |--usb--|  


    |-----------|
   usb          |
   _|___________|_
  */
// X-axis forwad, Y-axis left, Z-axis up

// IMU Samping frequency
#define PERIOD_MSEC 16
#define PERIOD_SEC (PERIOD_MSEC * 0.001)   // don't change this line

// Convert from encoder reading to ground speed
// Formula: GroundSpeed = Click / deltaT * Meter_Per_Click
// Scaler = Meter_per_click / deltaT
#define MpC      0.0001233
#define SCALER   (MpC / PERIOD_SEC)
#define BASELINE 0.66675

// Conventions of the Encoder
#define LF 0
#define LB 1
#define RF 2
#define RB 3

#endif
